AGV following mechanism and AGV device
Patent Information
- Application Number
- CN202521810237.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-25
- Publication Date
- 2026-10-27
- Estimated Expiration
- 2035-08-25
AI Technical Summary
[0003]传统AGV主要依赖固定路径导航，比如磁条、磁钉、激光反射板等，这在标准化、大规模的物流场景中很有效，但是随着制造业和物流行业的发展，尤其是智能制造和柔性生产的兴起，电商、快递、新能源(如锂电池生产)、医药冷链等领域对物流的柔性、实时性和人机协作要求越来越高，企业需要更灵活的物流解决方案，能够适应动态变化的生产线和临时任务，这时，传统AGV则显现出路径调整困难、无法适应临时场景、人机协同效率低等问题
[0019]相比现有技术，本实用新型AGV跟随机构包括羊角联动支架、调节杆、跟随组件、固定组件以及控制器，羊角联动支架设有连接部，连接部用于连接羊角，跟随组件包括连接支架、AGV传感器，调节杆一端与羊角联动支架连接，另一端与连接支架连接，连接支架活动安装在固定组件上，固定组件用于与车体连接，AGV传感器安装在连接支架上且与控制器通信连接，AGV传感器用于获取目标位置、方向或路径信息并传输给控制器，控制器控制羊角以及车体做出相应的跟随动作。
Smart Images
Figure CN224898984U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of AGV technology, and in particular to an AGV following mechanism and an AGV device including the above-mentioned AGV following mechanism. Background Technology
[0002] AGV (Automated Guided Vehicle) refers to a transport vehicle equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a prescribed guidance path, and possessing safety protection and various transfer functions.
[0003] Traditional AGVs mainly rely on fixed-path navigation, such as magnetic strips, magnetic nails, and laser reflectors. This is very effective in standardized, large-scale logistics scenarios. However, with the development of the manufacturing and logistics industries, especially the rise of intelligent manufacturing and flexible production, e-commerce, express delivery, new energy (such as lithium battery production), and pharmaceutical cold chain sectors have increasingly higher requirements for the flexibility, real-time performance, and human-machine collaboration of logistics. Enterprises need more flexible logistics solutions that can adapt to dynamically changing production lines and temporary tasks. At this point, traditional AGVs show problems such as difficulty in path adjustment, inability to adapt to temporary scenarios, and low efficiency in human-machine collaboration.
[0004] For example, in e-commerce warehousing, the traditional "goods-to-person" picking operation requires AGVs to transport shelves to the corresponding picking workstations according to the planned route. Pickers then complete the picking based on the prompts at the workstations. However, if orders are scattered or added temporarily, it can easily lead to limited processing efficiency and poor flexibility. Utility Model Content
[0005] To overcome the shortcomings of the existing technology, one of the objectives of this utility model is to provide an AGV following mechanism. The mechanism is connected to the horn via a horn linkage bracket and to the vehicle body via a fixed bracket. AGV sensors are installed on the connecting bracket. The AGV sensors acquire target position, direction, or path information and transmit it to the controller. The controller controls the horn and the vehicle body to make corresponding following actions. This allows the AGV to follow the picker, transport the picked goods in real time, reduce personnel movement time, adapt to temporary scenarios, and improve human-machine collaboration efficiency.
[0006] In order to overcome the shortcomings of the existing technology, the second objective of this utility model is to provide an AGV device that allows the AGV to follow the picker and transport the picked goods in real time, reduce personnel movement time, adapt to temporary scenarios, and improve human-machine collaboration efficiency.
[0007] One of the objectives of this utility model is achieved through the following technical solution:
[0008] An AGV following mechanism includes a horn linkage bracket, an adjusting rod, a following component, a fixing component, and a controller. The horn linkage bracket has a connecting part for connecting the horn. The following component includes a connecting bracket and an AGV sensor. One end of the adjusting rod is connected to the horn linkage bracket, and the other end is connected to the connecting bracket. The connecting bracket is movably mounted on the fixing component, which is used to connect to the vehicle body. The AGV sensor is mounted on the connecting bracket and is communicatively connected to the controller. The AGV sensor is used to acquire target position, direction, or path information and transmit it to the controller. The controller controls the horn and the vehicle body to perform corresponding following actions.
[0009] Furthermore, the fixing component includes a fixing bracket and a support member. The fixing bracket is used for detachable connection with the vehicle body, and the connecting bracket is movably mounted on the fixing bracket through the support member.
[0010] Furthermore, the support member includes a pin and a stop, the fixed bracket is provided with a insertion hole, the connecting bracket is provided with a mounting hole, the pin passes through the insertion hole and the mounting hole in sequence and extends out, and the stop is sleeved on the outside of the pin and threadedly connected to the pin.
[0011] Furthermore, the following assembly also includes a bushing, which is sleeved outside the pin and located inside the mounting hole.
[0012] Furthermore, the connecting part is a connecting hole opened on the ram's horn linkage bracket, and the connecting hole is provided with internal threads.
[0013] Furthermore, the adjusting rod includes a rod body and two ball heads, which are disposed at both ends of the rod body. One ball head is hinged to the horn linkage bracket, and the other ball head is hinged to the connecting bracket.
[0014] Furthermore, the connecting bracket includes a welded connecting bracket and a T-bar transition bracket. The welded connecting bracket is connected to the adjusting rod, and the T-bar transition bracket is fixedly connected to the welded connecting bracket. The AGV sensor is mounted on the T-bar transition bracket.
[0015] Furthermore, the following assembly also includes a mounting base, which is detachably connected to the connecting bracket, and the AGV sensor is mounted on the mounting base.
[0016] The second objective of this utility model is achieved by the following technical solution:
[0017] An AGV device includes a vehicle body, horns, and any of the above-described AGV following mechanisms. The horns are mounted on the vehicle body and electrically connected to the controller. The horn linkage bracket is mounted on the horns through the connecting part. The fixing component is fixedly connected to the vehicle body. The AGV sensor is used to acquire target position, direction, or path information and transmit it to the controller. The controller controls the horns and the vehicle body to perform corresponding following actions.
[0018] Furthermore, the AGV device also includes a drive motor and a wheel set. The wheel set is disposed at the lower end of the vehicle body, and the drive motor is electrically connected to the controller to drive the wheel set to rotate.
[0019] Compared with the prior art, the AGV following mechanism of this utility model includes a horn linkage bracket, an adjusting rod, a following component, a fixing component, and a controller. The horn linkage bracket is provided with a connecting part for connecting the horn. The following component includes a connecting bracket and an AGV sensor. One end of the adjusting rod is connected to the horn linkage bracket, and the other end is connected to the connecting bracket. The connecting bracket is movably mounted on the fixing component, which is used to connect to the vehicle body. The AGV sensor is mounted on the connecting bracket and communicates with the controller. The AGV sensor is used to acquire target position, direction, or path information and transmit it to the controller. The controller controls the horn and the vehicle body to make corresponding following actions.
[0020] In this application, the AGV following mechanism can be detachably connected to the horn and the vehicle body. The AGV sensor is used to acquire target position, direction or path information and transmit it to the controller. The controller controls the horn and the vehicle body to make corresponding following actions, which allows the AGV to follow the picker and transport the picked goods in real time, reduce personnel movement time, adapt to temporary scenarios, and improve human-machine collaboration efficiency. This application has a simple structure, is easy to adjust, and has a stable connection, which can improve the following accuracy of the AGV. Attached Figure Description
[0021] Figure 1 This is a schematic diagram of the AGV device of this utility model;
[0022] Figure 2 for Figure 1 A partial structural diagram of an AGV device;
[0023] Figure 3 This is a schematic diagram of the AGV following mechanism of this utility model;
[0024] Figure 4 for Figure 3 A partial structural diagram of the AGV following mechanism.
[0025] In the diagram: 1. AGV following mechanism; 11. Ox horn linkage bracket; 111. Connecting part; 12. Adjusting rod; 121. Rod body; 122. Ball head; 13. Following assembly; 131. Connecting bracket; 1311. Welded connecting bracket; 1312. T-bar transition bracket; 132. AGV sensor; 133. Mounting seat; 134. Bushing; 14. Fixing assembly; 141. Fixing bracket; 1411. Insert; 142. Support; 1421. Pin; 1422. Stop; 15. Controller; 2. Vehicle body; 3. Ox horn; 4. Drive motor; 5. Wheel set. Detailed Implementation
[0026] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.
[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0029] Figures 1-2 The AGV device of this utility model includes an AGV following mechanism 1, a vehicle body 2, steering horns 3, a drive motor 4, and a wheel set 5. Figures 3-4 The AGV following mechanism 1 of this utility model includes a horn linkage bracket 11, an adjusting rod 12, a following component 13, a fixing component 14, and a controller 15.
[0030] In this embodiment:
[0031] like Figure 3-4 As shown, the AGV following mechanism 1 includes a horn linkage bracket 11, an adjusting rod 12, a following component 13, a fixing component 14, and a controller 15.
[0032] The ram's horn linkage bracket 11 is provided with a connecting part 111, which is used to connect the ram's horn 3. In this embodiment, the connecting part 111 is a connecting hole opened on the ram's horn linkage bracket 11. The connecting hole is provided with an internal thread. By engaging with the bolt on the ram's horn 3 through the connecting hole, the ram's horn linkage bracket 11 can be firmly connected to the ram's horn 3, ensuring the reliability of the connection.
[0033] The adjusting rod 12 includes a rod body 121 and two ball heads 122. The two ball heads 122 are located at both ends of the rod body 121. One ball head 122 is hinged to the horn linkage bracket 11, and the other ball head 122 is hinged to the connecting bracket 131 of the following assembly 13. This allows the adjusting rod 12 to rotate at multiple angles with the horn linkage bracket 11 and the connecting bracket 131, improving the flexibility of the mechanism and making it easier to adjust the position and angle of the AGV sensor 132 according to actual needs.
[0034] The follower assembly 13 includes a connecting bracket 131, an AGV sensor 132, a mounting base 133, and a bushing 134.
[0035] The connecting bracket 131 includes a welded connecting bracket 1311 and a T-bar transition bracket 1312. The welded connecting bracket 1311 is provided with a mounting hole. The welded connecting bracket 1311 is connected to the adjusting rod 12 and is movably mounted on the fixed bracket 141 of the fixed assembly 14. The T-bar transition bracket 1312 is fixedly connected to the welded connecting bracket 1311.
[0036] The mounting base 133 is detachably connected to the T-bar transition bracket 1312, which facilitates the installation, removal and maintenance of the AGV sensor 132 and allows for quick replacement when the sensor malfunctions.
[0037] The AGV sensor 132 is mounted on the mounting base 133 and is communicatively connected to the controller 15. The AGV sensor 132 is used to acquire target position, direction, or path information and transmit it to the controller 15. The controller 15 controls the ram's horn 3 and the vehicle body 2 to perform corresponding following actions. In this embodiment, the AGV sensor 132 is a lidar sensor or a vision sensor. Lidar sensors have the characteristics of long detection distance and high accuracy; vision sensors can identify the image information of the target and are suitable for specific following scenarios. Users can choose the appropriate sensor type according to their actual needs.
[0038] The bushing 134 is fitted onto the outside of the support member 142 and located inside the mounting hole. The inner wall of the mounting hole of the welded connecting bracket 1311 slides relative to the outer surface of the bushing 134. The fixing bracket 141 and the pin 1421 in the fixing assembly 14 will not rotate with the rotation of the welded connecting bracket 1311. In this embodiment, the bushing 134 is a brass bushing 134. The self-lubricating property of brass ensures smooth rotation, reduces frictional loss when the welded connecting bracket 1311 rotates, and extends the structural life.
[0039] The fixing component 14 includes a fixing bracket 141 and a support member 142.
[0040] The fixed bracket 141 is detachably connected to the vehicle body 2. The fixed bracket 141 is provided with a socket 1411. The fixed bracket 141 is installed on the welded connection bracket 1311 through the support member 142, which ensures the stability of the connection and reduces the impact of loose connection on the following accuracy.
[0041] The support member 142 includes a pin 1421 and a stop 1422. The pin 1421 passes through the insertion hole 1411 and the mounting hole in sequence and extends out. The stop 1422 is sleeved on the outside of the pin 1421 and threadedly connected to the pin 1421. It is used to limit the rotation angle of the welded connection bracket 1311 (such as to prevent excessive rotation from causing structural interference), ensure that it rotates within a preset range (e.g., swings within 0 to 90°), and does not disengage from the engagement with the pin 1421.
[0042] like Figure 1-2 As shown, this application also provides an AGV device, including a vehicle body 2, steering horns 3, a drive motor 4, a wheel set 5, and any of the above-mentioned AGV following mechanisms 1.
[0043] The steering horn 3 is mounted on the vehicle body 2 and electrically connected to the controller 15. The steering horn linkage bracket 11 is mounted on the steering horn 3 through the connecting part 111. The fixed bracket 141 is detachably connected to the vehicle body 2.
[0044] The wheel assembly 5 is located at the lower end of the vehicle body 2. The drive motor 4 is electrically connected to the controller 15 and is used to drive the wheel assembly 5 to rotate.
[0045] In use, the mechanism is connected to the ram's horn 3 via the connecting part 111 of the ram's horn linkage bracket 11, and connected to the vehicle body 2 via the fixed bracket 141. The AGV sensor 132 detects the position information or movement path of the target and transmits it to the controller 15. The controller 15 controls the ram's horn 3 and the vehicle body 2 to follow the target. When the ram's horn 3 rotates, the adjusting rod 12, the welding connecting bracket 1311, the T-bar transition bracket 1312, and the AGV sensor 132 rotate via the ram's horn linkage bracket 11, thereby realizing the dynamic tracking of the AGV sensor 132.
[0046] In this application, the AGV following mechanism 1 is detachably connected to the ram's horn 3 and the vehicle body 2. The AGV sensor 132 is used to acquire target position, direction or path information and transmit it to the controller 15. The controller 15 controls the ram's horn 3 and the vehicle body 2 to make corresponding following actions, which allows the AGV to follow the picker and transport the picked goods in real time, reduce personnel movement time, adapt to temporary scenarios, and improve human-machine collaboration efficiency. This application has a simple structure, is easy to adjust, and has a stable connection, which can improve the following accuracy of the AGV.
[0047] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims
1. An AGV following mechanism (1), characterized in that: The system includes a horn linkage bracket (11), an adjusting rod (12), a following component (13), a fixing component (14), and a controller (15). The horn linkage bracket (11) has a connecting part (111) for connecting the horn (3). The following component (13) includes a connecting bracket (131) and an AGV sensor (132). One end of the adjusting rod (12) is connected to the horn linkage bracket (11), and the other end is connected to the connecting bracket (131). The connecting bracket (131) is movably mounted on the fixing component (14), which is used to connect to the vehicle body (2). The AGV sensor (132) is mounted on the connecting bracket (131) and communicates with the controller (15). The AGV sensor (132) is used to acquire target position, direction, or path information and transmit it to the controller (15). The controller (15) controls the horn (3) and the vehicle body (2) to make corresponding following actions.
2. The AGV following mechanism (1) according to claim 1, characterized in that: The fixing component (14) includes a fixing bracket (141) and a support member (142). The fixing bracket (141) is used to be detachably connected to the vehicle body (2). The connecting bracket (131) is movably mounted on the fixing bracket (141) through the support member (142).
3. The AGV following mechanism (1) according to claim 2, characterized in that: The support member (142) includes a pin (1421) and a stop (1422). The fixed bracket (141) is provided with a socket (1411). The connecting bracket (131) is provided with a mounting hole. The pin (1421) passes through the socket (1411) and the mounting hole in sequence and extends out. The stop (1422) is sleeved on the outside of the pin (1421) and threadedly connected to the pin (1421).
4. The AGV following mechanism (1) according to claim 3, characterized in that: The following assembly (13) further includes a bushing (134) which is sleeved outside the pin (1421) and located inside the mounting hole.
5. The AGV following mechanism (1) according to claim 1, characterized in that: The connecting part (111) is a connecting hole opened on the ram's horn linkage bracket (11), and the connecting hole is provided with internal thread.
6. The AGV following mechanism (1) according to claim 1, characterized in that: The adjusting rod (12) includes a rod body (121) and two ball heads (122). The two ball heads (122) are located at both ends of the rod body (121). One ball head (122) is hinged to the horn linkage bracket (11), and the other ball head (122) is hinged to the connecting bracket (131).
7. The AGV following mechanism (1) according to claim 1, characterized in that: The connecting bracket (131) includes a welded connecting bracket (1311) and a T-bar transition bracket (1312). The welded connecting bracket (1311) is connected to the adjusting rod (12), and the T-bar transition bracket (1312) is fixedly connected to the welded connecting bracket (1311). The AGV sensor (132) is mounted on the T-bar transition bracket (1312).
8. The AGV following mechanism (1) according to claim 1, characterized in that: The following component (13) also includes a mounting base (133), which is detachably connected to the connecting bracket (131), and the AGV sensor (132) is mounted on the mounting base (133).
9. An AGV device, comprising a vehicle body (2) and ram's horns (3), characterized in that: It also includes an AGV following mechanism (1) as described in any one of claims 1 to 8, wherein the ram's horn (3) is mounted on the vehicle body (2) and electrically connected to the controller (15), the ram's horn linkage bracket (11) is mounted on the ram's horn (3) through the connecting part (111), the fixing component (14) is fixedly connected to the vehicle body (2), the AGV sensor (132) is used to acquire target position, direction or path information and transmit it to the controller (15), and the controller (15) controls the ram's horn (3) and the vehicle body (2) to make corresponding following actions.
10. The AGV device according to claim 9, characterized in that: The AGV device also includes a drive motor (4) and a wheel set (5). The wheel set (5) is located at the lower end of the vehicle body (2). The drive motor (4) is electrically connected to the controller (15) and is used to drive the wheel set (5) to rotate.